/*
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
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 * $Id: fpfh_omp.cpp 35361 2011-01-20 04:34:49Z rusu $
 *
 */

#include <pluginlib/class_list_macros.h>
#include "pcl_ros/features/fpfh_omp.hpp"

void
pcl_ros::FPFHEstimationOMP::emptyPublish(const PointCloudInConstPtr & cloud)
{
  PointCloudOut output;
  output.header = cloud->header;
  pub_output_.publish(ros_ptr(output.makeShared()));
}

void
pcl_ros::FPFHEstimationOMP::computePublish(
  const PointCloudInConstPtr & cloud,
  const PointCloudNConstPtr & normals,
  const PointCloudInConstPtr & surface,
  const IndicesPtr & indices)
{
  // Set the parameters
  impl_.setKSearch(k_);
  impl_.setRadiusSearch(search_radius_);

  // Set the inputs
  impl_.setInputCloud(pcl_ptr(cloud));
  impl_.setIndices(indices);
  impl_.setSearchSurface(pcl_ptr(surface));
  impl_.setInputNormals(pcl_ptr(normals));
  // Estimate the feature
  PointCloudOut output;
  impl_.compute(output);

  // Publish a Boost shared ptr const data
  // Enforce that the TF frame and the timestamp are copied
  output.header = cloud->header;
  pub_output_.publish(ros_ptr(output.makeShared()));
}

typedef pcl_ros::FPFHEstimationOMP FPFHEstimationOMP;
PLUGINLIB_EXPORT_CLASS(FPFHEstimationOMP, nodelet::Nodelet)
